CN101331046B - 车辆控制装置 - Google Patents
车辆控制装置 Download PDFInfo
- Publication number
- CN101331046B CN101331046B CN2006800476064A CN200680047606A CN101331046B CN 101331046 B CN101331046 B CN 101331046B CN 2006800476064 A CN2006800476064 A CN 2006800476064A CN 200680047606 A CN200680047606 A CN 200680047606A CN 101331046 B CN101331046 B CN 101331046B
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- Prior art keywords
- wheel
- vehicle
- value
- driving power
- road surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0012—Feedforward or open loop systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
- B60W2050/0033—Single-track, 2D vehicle model, i.e. two-wheel bicycle model
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
- B60W2050/0034—Multiple-track, 2D vehicle model, e.g. four-wheel model
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP376539/2005 | 2005-12-27 | ||
JP2005376539 | 2005-12-27 | ||
PCT/JP2006/325537 WO2007074718A1 (ja) | 2005-12-27 | 2006-12-21 | 車両の制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101331046A CN101331046A (zh) | 2008-12-24 |
CN101331046B true CN101331046B (zh) | 2011-06-15 |
Family
ID=38217939
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2006800476064A Expired - Fee Related CN101331046B (zh) | 2005-12-27 | 2006-12-21 | 车辆控制装置 |
Country Status (8)
Country | Link |
---|---|
US (1) | US8155852B2 (de) |
EP (1) | EP1967433B1 (de) |
JP (1) | JP4226058B2 (de) |
KR (1) | KR101008317B1 (de) |
CN (1) | CN101331046B (de) |
CA (1) | CA2631446C (de) |
DE (1) | DE602006017260D1 (de) |
WO (1) | WO2007074718A1 (de) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7991532B2 (en) * | 2004-12-27 | 2011-08-02 | Equos Research Co., Ltd. | Wheel control device and control device |
NL1030943C2 (nl) * | 2006-01-18 | 2007-07-19 | Tomtom Int Bv | Werkwijze voor het opslaan van de positie van een geparkeerd voertuig en navigatieapparaat dat daarvoor is ingericht. |
JP4413931B2 (ja) * | 2007-01-18 | 2010-02-10 | 株式会社日立製作所 | 自動車及び自動車の制御装置 |
US7835845B2 (en) * | 2007-08-23 | 2010-11-16 | Gm Global Technology Operations, Inc. | Method and system for consistent braking control |
DE102008041353A1 (de) * | 2008-08-19 | 2010-02-25 | Robert Bosch Gmbh | Verfahren zur Kompensation von Volumenänderungen eines Hydraulikfluids in einer hydraulischen Betätigungseinrichtung zur Betätigung einer Kupplung, sowie hydraulische Betätigungseinrichtung |
DE102010004113B4 (de) * | 2010-01-07 | 2014-11-20 | Continental Automotive Gmbh | Verfahren und Vorrichtung zur Ermittlung eines maximalen Reibungsbeiwerts μmax zwischen einem Reifen und einem Untergrund |
JP4918149B2 (ja) * | 2010-03-05 | 2012-04-18 | 本田技研工業株式会社 | 車両の運動制御装置 |
FR2959836B1 (fr) * | 2010-05-07 | 2012-06-01 | Messier Bugatti | Procede de gestion d'un mouvement de lacet d'un aeronef roulant au sol. |
GB2486177A (en) * | 2010-12-02 | 2012-06-13 | Land Rover Uk Ltd | Traction control method that allows for processing time delays |
JP5801839B2 (ja) * | 2013-03-28 | 2015-10-28 | 本田技研工業株式会社 | 四輪駆動車両の駆動力配分制御装置 |
US10414433B2 (en) * | 2015-07-22 | 2019-09-17 | Steering Solutions Ip Holding Corporation | Magnetic torque overlay steering system with off-road damping |
US9988026B2 (en) | 2015-12-22 | 2018-06-05 | Autoliv-Nissin Brake Systems Japan Co., Ltd. | System and method for independently controlling wheel slip and vehicle acceleration |
JP6590066B2 (ja) * | 2016-04-15 | 2019-10-16 | 日産自動車株式会社 | 制動力制御方法及び制動力制御装置 |
DE102016211728A1 (de) | 2016-06-29 | 2018-01-04 | Trw Automotive U.S. Llc | Reibwertschätzer |
KR101897628B1 (ko) * | 2017-02-06 | 2018-10-04 | 서울대학교산학협력단 | 고속 정상 주행상황에서의 타이어 노면 마찰계수 추정방법 및 타이어 노면 마찰계수 추정장치 |
JP2020183214A (ja) * | 2019-05-08 | 2020-11-12 | 株式会社福島研究所 | 操舵制御装置 |
JP7298434B2 (ja) * | 2019-10-11 | 2023-06-27 | トヨタ自動車株式会社 | 運転支援装置 |
US11175667B2 (en) * | 2020-02-19 | 2021-11-16 | GM Global Technology Operations LLC | System and method for vehicle integrated stability control using perceived yaw center |
DE102021201141A1 (de) * | 2021-02-08 | 2022-08-11 | Continental Automotive Gmbh | Regelungseinrichtung und Verfahren zur Lenkwinkelregelung eines Fahrzeugs |
CN113665575B (zh) * | 2021-08-31 | 2024-06-14 | 中国第一汽车股份有限公司 | 一种适时四驱控制方法、车辆及存储介质 |
US20230406287A1 (en) * | 2022-05-25 | 2023-12-21 | GM Global Technology Operations LLC | Data fusion-centric method and system for vehicle motion control |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4030704A1 (de) * | 1990-09-28 | 1992-04-02 | Bosch Gmbh Robert | Verfahren zur verbesserung der beherrschbarkeit von kraftfahrzeugen beim bremsen |
US6453226B1 (en) * | 2001-01-25 | 2002-09-17 | Delphi Technologies, Inc. | Integrated control of active tire steer and brakes |
US6547343B1 (en) * | 1997-09-08 | 2003-04-15 | General Motors Corporation | Brake system control |
EP1527970A2 (de) * | 2003-10-27 | 2005-05-04 | Fuji Jukogyo Kabushiki Kaisha | Steuerungsvorrichtung und Steuerungsverfahren für Kraftfahrzeuge |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3303605B2 (ja) | 1995-05-17 | 2002-07-22 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
WO1999056994A1 (fr) | 1998-05-07 | 1999-11-11 | Unisia Jecs Corporation | Dispositif pour reguler les mouvements d'embardee d'un vehicule |
US6111384A (en) | 1998-05-26 | 2000-08-29 | Eastman Kodak Company | Method for controlling motor speed |
JP2001047999A (ja) | 1999-08-09 | 2001-02-20 | Unisia Jecs Corp | 車両挙動検出装置 |
JP4021185B2 (ja) | 2001-12-07 | 2007-12-12 | 本田技研工業株式会社 | ヨーモーメントフィードバック制御方法 |
JP4024574B2 (ja) * | 2002-03-29 | 2007-12-19 | 株式会社ジェイテクト | 車両制御装置 |
JP2005041386A (ja) * | 2003-07-24 | 2005-02-17 | Aisin Seiki Co Ltd | 車両の操舵制御装置 |
JP2005145256A (ja) | 2003-11-14 | 2005-06-09 | Toyota Central Res & Dev Lab Inc | 車体運動実現方法及び装置 |
BRPI0513156B1 (pt) | 2004-08-06 | 2017-12-26 | Honda Motor Co., Ltd. | Control device for a vehicle equipped with a variable output device manipulated to drive ?? |
-
2006
- 2006-12-21 KR KR1020087012641A patent/KR101008317B1/ko not_active IP Right Cessation
- 2006-12-21 CN CN2006800476064A patent/CN101331046B/zh not_active Expired - Fee Related
- 2006-12-21 US US12/095,406 patent/US8155852B2/en not_active Expired - Fee Related
- 2006-12-21 DE DE602006017260T patent/DE602006017260D1/de active Active
- 2006-12-21 EP EP06835098A patent/EP1967433B1/de not_active Expired - Fee Related
- 2006-12-21 JP JP2007533802A patent/JP4226058B2/ja not_active Expired - Fee Related
- 2006-12-21 CA CA2631446A patent/CA2631446C/en not_active Expired - Fee Related
- 2006-12-21 WO PCT/JP2006/325537 patent/WO2007074718A1/ja active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4030704A1 (de) * | 1990-09-28 | 1992-04-02 | Bosch Gmbh Robert | Verfahren zur verbesserung der beherrschbarkeit von kraftfahrzeugen beim bremsen |
US6547343B1 (en) * | 1997-09-08 | 2003-04-15 | General Motors Corporation | Brake system control |
US6453226B1 (en) * | 2001-01-25 | 2002-09-17 | Delphi Technologies, Inc. | Integrated control of active tire steer and brakes |
EP1527970A2 (de) * | 2003-10-27 | 2005-05-04 | Fuji Jukogyo Kabushiki Kaisha | Steuerungsvorrichtung und Steuerungsverfahren für Kraftfahrzeuge |
Non-Patent Citations (4)
Title |
---|
JP特开2003-170822A 2003.06.17 |
JP特开2003-291840A 2003.10.15 |
JP特开2005-41386A 2005.02.17 |
JP特开平8-310366A 1996.11.26 |
Also Published As
Publication number | Publication date |
---|---|
KR20080063420A (ko) | 2008-07-03 |
CN101331046A (zh) | 2008-12-24 |
CA2631446A1 (en) | 2007-07-05 |
KR101008317B1 (ko) | 2011-01-13 |
CA2631446C (en) | 2011-08-09 |
EP1967433B1 (de) | 2010-09-29 |
US20090012669A1 (en) | 2009-01-08 |
DE602006017260D1 (de) | 2010-11-11 |
WO2007074718A1 (ja) | 2007-07-05 |
JPWO2007074718A1 (ja) | 2009-06-04 |
EP1967433A4 (de) | 2009-10-21 |
JP4226058B2 (ja) | 2009-02-18 |
EP1967433A1 (de) | 2008-09-10 |
US8155852B2 (en) | 2012-04-10 |
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Granted publication date: 20110615 Termination date: 20211221 |